Development Of FPC Loading And Unloading Visual Positioning System

In the FPC automated production line,loading and unloading is an indispensable operation.Due to the low efficiency and poor precision of manual loading and unloading,the robot can be used to effectively solve this problem.The robotic gripping and machi ne vision positioning can effectively improve the accuracy of loading and unloading.In view of the high precision requirements of precision equipment for FPC loading and unloading,this thesis developed a FPC loading and unloading visual positioning system using robots,which solved the problem of low positioning accuracy of FPC loading and unloading.This thesis introduces the research background and significance of FPC loading and unloading,and analyzes the research status of FPC industry at home and abroad.According to equipment installation requirements and vision system accuracy requirements,from the perspective of reliability and economy,the choice of visual hardware,starting from the equipment processing technology and institutional installation requirements,the reasonable placement of visual hardware in the equipment.Step analysis and implementation of the Blob feature extraction and analysis algorithm,combined with the basic geometric characteristics of the contour itself,extract and screen the outline of the image target object,and select the optimal parameters.The principle of contour-based template matching algorithm is analyzed and implemented,and the algorithm is optimize d,including using pyramid strategy to improve speed and expand rotation angle,so that the algorithm can locate image targets quickly and accurately.Summarize the advantages and disadvantages of the two algorithms,and combine the actual product image effects to select the image algorithm.The principle analysis and implementation of the two methods of the eye of the opponent are carried out.The upper camera is mounted on the second joint of the manipulator and moves with the movement of the manipulator.The Eye-inhand method is analyzed by hand-eye calibration,and the camera coordinate system can be calibrated.The positional relationship between the manipulator's geodetic coordinate system.The lower camera and the robot are separated,fixedly mounted at a certain position,and subjected to Eye-to-hand analysis of the hand-eye calibration,and the positional relationship between the camera coordinate system and the robot's geodetic coordinate system can be calibrated.Summarize the advantages and disadvantages of the two calibration methods,combined with the speed,accuracy and other requirements in the actual production process,analyze the basis for the selection of calibration methods for each station.This thesis introduces the way of data interaction between visual system and manipulator system,analyzes the advantages and disadvantages of serial communication and network port communication based on Modbus protocol,and combines the requirements of communication speed and stability with actual production to select the communication mode.Introduce each module of the vision system interface.Based on the above theoretical research,an FPC loading and unloading visual positioning system using a robot is developed.Analyze and summarize the problems in the actual production line,improve the deficiencies of the visual system,improve the stability and efficiency of the software.This thesis has important research value and strong practicability for studying the visual positioning system of FPC loading and unloading.